{"id":"https://openalex.org/W3129753327","doi":"https://doi.org/10.1109/iros45743.2020.9341051","title":"Towards Micro Robot Hydrobatics: Vision-based Guidance, Navigation, and Control for Agile Underwater Vehicles in Confined Environments","display_name":"Towards Micro Robot Hydrobatics: Vision-based Guidance, Navigation, and Control for Agile Underwater Vehicles in Confined Environments","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129753327","doi":"https://doi.org/10.1109/iros45743.2020.9341051","mag":"3129753327"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064280336","display_name":"Daniel A Duecker","orcid":"https://orcid.org/0000-0001-7256-6984"},"institutions":[{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel A Duecker","raw_affiliation_strings":["Hamburg University of Technology,Germany","Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Hamburg University of Technology,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024508992","display_name":"Nathalie Bauschmann","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nathalie Bauschmann","raw_affiliation_strings":["Hamburg University of Technology,Germany","Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Hamburg University of Technology,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051668159","display_name":"Tim Hansen","orcid":"https://orcid.org/0009-0003-4458-9515"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Hansen","raw_affiliation_strings":["Hamburg University of Technology,Germany","Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Hamburg University of Technology,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109009653","display_name":"Edwin Kreuzer","orcid":null},"institutions":[{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Edwin Kreuzer","raw_affiliation_strings":["Hamburg University of Technology,Germany","Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Hamburg University of Technology,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005763061","display_name":"Robert Seifried","orcid":"https://orcid.org/0000-0001-5795-7610"},"institutions":[{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Seifried","raw_affiliation_strings":["Hamburg University of Technology,Germany","Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Hamburg University of Technology,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064280336"],"corresponding_institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"],"apc_list":null,"apc_paid":null,"fwci":2.7023,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.89504047,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1819","last_page":"1826"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.912797749042511},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7487950921058655},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7281395196914673},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6615185737609863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5718730688095093},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.551627516746521},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5243145227432251},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5108744502067566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5015823841094971},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.4275759756565094},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3277464509010315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3274364471435547},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3268412947654724},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.22881701588630676},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.07884150743484497},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06212887167930603}],"concepts":[{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.912797749042511},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7487950921058655},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7281395196914673},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6615185737609863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5718730688095093},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.551627516746521},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5243145227432251},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5108744502067566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5015823841094971},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.4275759756565094},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3277464509010315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3274364471435547},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3268412947654724},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.22881701588630676},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.07884150743484497},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06212887167930603},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1480782870","https://openalex.org/W1578294898","https://openalex.org/W1974204180","https://openalex.org/W2001284234","https://openalex.org/W2053745668","https://openalex.org/W2125188427","https://openalex.org/W2162991084","https://openalex.org/W2169914216","https://openalex.org/W2210895635","https://openalex.org/W2329767976","https://openalex.org/W2345111710","https://openalex.org/W2346634033","https://openalex.org/W2410534059","https://openalex.org/W2413778895","https://openalex.org/W2469518743","https://openalex.org/W2492811885","https://openalex.org/W2547626689","https://openalex.org/W2565233142","https://openalex.org/W2602686523","https://openalex.org/W2611023971","https://openalex.org/W2762303847","https://openalex.org/W2765768439","https://openalex.org/W2804411194","https://openalex.org/W2808614814","https://openalex.org/W2883481555","https://openalex.org/W2890806935","https://openalex.org/W2895198873","https://openalex.org/W2905261678","https://openalex.org/W2908490000","https://openalex.org/W2909203004","https://openalex.org/W2911046208","https://openalex.org/W2951976808","https://openalex.org/W3099138983","https://openalex.org/W6650854887","https://openalex.org/W6752030905","https://openalex.org/W6757891412","https://openalex.org/W6785259141"],"related_works":["https://openalex.org/W1657880117","https://openalex.org/W2595172197","https://openalex.org/W2127970246","https://openalex.org/W2084856301","https://openalex.org/W1001352512","https://openalex.org/W4382618745","https://openalex.org/W2885125400","https://openalex.org/W1989889224","https://openalex.org/W2748922771","https://openalex.org/W1531252510"],"abstract_inverted_index":{"Despite":[0],"the":[1,64,82,94,97,101],"recent":[2],"progress,":[3],"guidance,":[4],"navigation,":[5],"and":[6,21,32,100],"control":[7],"(GNC)":[8],"are":[9],"largely":[10],"unsolved":[11],"for":[12,63],"agile":[13,68],"micro":[14,40],"autonomous":[15,88],"underwater":[16,41],"vehicles":[17],"(\u03bcAUVs).":[18],"Hereby,":[19],"robust":[20],"accurate":[22],"self-localization":[23,56],"systems":[24],"which":[25,58,80],"fit":[26],"\u03bcAUVs":[27,85],"play":[28],"a":[29,36,50,77],"key":[30],"role":[31],"their":[33],"absence":[34],"constitutes":[35],"severe":[37],"bottleneck":[38,61],"in":[39,86,103],"robotics":[42],"research.":[43],"In":[44],"this":[45,60],"work":[46],"we":[47,72,91],"present,":[48],"first,":[49],"small-size":[51],"low-cost":[52],"high":[53],"performance":[54,95],"vision-based":[55],"module":[57],"solves":[59],"even":[62],"requirements":[65],"of":[66,84,96],"highly":[67],"robot":[69],"platforms.":[70],"Second,":[71],"present":[73],"its":[74],"integration":[75],"into":[76],"powerful":[78],"GNC-framework":[79,102],"allows":[81],"deployment":[83],"fully":[87],"mission.":[89],"Finally,":[90],"critically":[92],"evaluate":[93],"localization":[98],"system":[99],"two":[104],"experimental":[105],"scenarios.":[106]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-03T08:47:05.690250","created_date":"2025-10-10T00:00:00"}
